A Mobile Hybrid Robot and Its Accuracy Issue in Machining of Large-Scale Structures

摘要

Accurate and efficient manufacturing of large-scale structures is an important and challenging issue. To this end, a mobile hybrid robot named CraftsRobot is designed and developed for in-situ machining the local features of large-scale structures. The mobile hybrid robot comprises a mobile vehicle, a guide rail, a two degree-of-freedom (DoF) mechanical arm, and a five-DoF light-weight parallel module. The interaction mechanism between the parallel module and the mechanical arm is disclosed to build the error prediction model. On this basis, a model predictive compensation method is proposed. In each servo cycle, the command pose of the parallel module is modified and under the effect of the interaction-induced error superimposed on the modified command pose, the parallel module will reach the target pose. The results of simulation and experiment both verify the effectiveness of the compensation model. After compensation, the mobile hybrid robot is applied to machine the features on a typical large-scale structure and the machining errors are within 0.04 mm. The experimental results show that the designed robot can machine local features of large-scale structures in situ and meet the precision requirements. Together, this study provides a novel approach to achieve accurate and efficient manufacturing of large-scale structures.